[time]
2022-08-12T10:14:20+02:00

[track]
4

[team_name]
Smartfoot

[team_institution]
BeiHang University

[logolink]


[team_members]


[reference_person]
Dayu Yan

[reference_email]
dyaxb@buaa.edu.cn

[description_short]
Researchers usually suppress the divergence of positioning error within IEZ (Inertial Navigation System - Extended Kalman Filter - Zero Velocity Update, INS-EKF-ZUPT) framework. However, due to the poor observability of heading errors to ZUPT and the instability of vertical inertial channels, further corrections of the estimated trajectories under the IEZ framework are still needed to obtain higher positioning accuracy. First, the improved Step Height Equidistant (SHE) method was exploited to estimate the altitude, which was based on vertical motion modes. Then, the Strapdown Inertial Navigation System (SINS) and GPS was integrated according to loose combination. Furthermore, the improved heuristic drift elimination was also used to constraint the heading drift. Finally, the adaptive method was utilized to adjust the parameters of EKF and the threshold of ZUPT

[description_long_link]
https://drive.google.com/file/d/1u6NCWe-DgTrRWs6JHcLZFoQok8U5VwV6/view?usp=sharing

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